相关论文: Dual-Stream Diffusion for World-Model Augmented Vi…

Despite imperfect score-matching causing drift in training and sampling distributions of diffusion models, recent advances in diffusion-based acoustic models have revolutionized data-sufficient single-speaker Text-to-Speech (TTS)…

State-of-the-art Vision-Language-Action (VLA) models excel at semantic generalization but struggle to generalize to unseen physical motions in novel environments. We introduce DreamZero, a World Action Model (WAM) built upon a pretrained…

Diffusion models are increasingly used as powerful conditional generators, yet real deployments often involve multiple target distributions arising from different tasks, e.g., diverse prompt domains in text-to-image generation, or multiple…

World models, which predict future transitions from past observation and action sequences, have shown great promise for improving data efficiency in sequential decision-making. However, existing world models often require extensive…

Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain-of-Thought (CoT) reasoning in language models. Yet even…

Recent unsupervised domain adaptation (UDA) methods have shown great success in addressing classical domain shifts (e.g., synthetic-to-real), but they still suffer under complex shifts (e.g. geographical shift), where both the background…

Sequence modeling approaches have shown promising results in robot imitation learning. Recently, diffusion models have been adopted for behavioral cloning in a sequence modeling fashion, benefiting from their exceptional capabilities in…

Diffusion models have achieved remarkable success in image and video generation tasks. However, the high computational demands of Diffusion Transformers (DiTs) pose a significant challenge to their practical deployment. While feature…

Although diffusion-based real-world image restoration (Real-IR) has achieved remarkable progress, efficiently leveraging ultra-large-scale pre-trained text-to-image (T2I) models and fully exploiting their potential remain significant…

Unsupervised Domain Adaptation (UDA) is essential for enabling semantic segmentation in new domains without requiring costly pixel-wise annotations. State-of-the-art (SOTA) UDA methods primarily use self-training with architecturally…

Current Video Large Language Models (Video LLMs) typically encode frames via a vision encoder and employ an autoregressive (AR) LLM for understanding and generation. However, this AR paradigm inevitably faces a dual efficiency bottleneck:…

Deep generative models offer a powerful alternative to conventional channel estimation by learning complex channel distributions. By integrating the rich environmental information available in modern sensing-aided networks, this paper…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a…

Fine-tuning diffusion policies with reinforcement learning (RL) presents significant challenges. The long denoising sequence for each action prediction impedes effective reward propagation. Moreover, standard RL methods require millions of…

The new paradigm of test-time scaling has yielded remarkable breakthroughs in Large Language Models (LLMs) (e.g. reasoning models) and in generative vision models, allowing models to allocate additional computation during inference to…

Recently, diffusion policy has shown impressive results in handling multi-modal tasks in robotic manipulation. However, it has fundamental limitations in out-of-distribution failures that persist due to compounding errors and its limited…

Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly severe in long-horizon tasks involving…

This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmark Diffusion Policy across 12 different tasks from 4…

Deep learning has shown remarkable performance in medical image segmentation. However, despite its promise, deep learning has many challenges in practice due to its inability to effectively transition to unseen domains, caused by the…